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1、ProceedingsoftheIEEEITSC2006TC7.22006IEEEIntelligentTransportationSystemsConferenceToronto,Canada,September17-20,2006Real-timeLaneDetectioninVariousConditionsandNightCasesHongWang,QiangChenStateKeyLaboratoryofIntelligenceTechnology&SystemsDepartmentofComputerScience&Technology,TsinghuaUniversi
2、ty,Beijing100084,P.R.Chinawanghong@tsinghua.edu.cn,cq00@mails.tsinghua.edu.cnAbstractInthispaper,weproposeareal-timelanedetectionalgorithmbasedonahyperbola-pairlaneboundarymodelandanimprovedRANSACparadigm.Insteadofmodelingeachroadboundaryseparately,weproposeamodeltodescribetheroadboundaryasapa
3、irofparallelhyperbolasonthegroundplane.AfuzzymeasurementisintroducedintotheRANSACparadigmtoimprovetheaccuracyandrobustnessof?ttingthepointsontheboundariesintothemodel.Ourmethodisabletodealwithexistenceofpartialocclusion,othertraf?cparticipantsandmarkings,etc.Experimentinmanydifferentconditions
4、,includingvariousconditionsofillumina-tion,weatherandroad,demonstratesitshighperformanceandaccuracy.I.INTRODUCTIONLanedetectionisacriticalcomponentinDriverAssistanceSysteminordertoprovidemeaningfulandconsistentroadshapeinformationfornavigationpurpose.IntherealroadFig.1.Somesamplesofdifferentro
5、adenvironments.landdetectionproblem,environmentsareusuallyaffectedbymanyfactorsandcomplicated.Therearestraightandcurvilinearlanes,andmanyothertraf?cmarkingsexceptfordevelopedbyTsinghuaUniversity[7]wasreportedtohavethelanemarkingsexist.Moreover,thelaneboundarymightthisability.beoccupiedbyothert
6、raf?cparticipants,blurredandbrokenEdgeinformationwasmostlyusedinsuchalgorithms[8]intoseveralparts,etc.Fig.1showssomesamples,including[9][10][11][12].Mostofthemuseddifferentgradientstraight/curvilinearlanes,existingcrosswalk/arrows,vehicleoperatorstoextractedgeinformationoflanemarkings,occupati
7、onandenvironmentatnight.includingthemagnitudeandtheorientation.AlargenumberInsteadofconsideringeachroadboundaryseparatelylikeofdifferentstrategiesandmethods[13][14][15][16]weremostofexistingmethods,weproposetouseapairofthenusedto?ndoutt
